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   <div id="projectname">miniFOC<span id="projectnumber">&#160;1.0.3</span>
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   <div id="projectbrief">This open-source project aims to accomplish a FOC(Field Oriented Control) scheme that is operatable with minimum costs in China.</div>
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  <div class="headertitle"><div class="title">main.c</div></div>
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<a href="main_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">/**************************************************************************/</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;<a class="code" href="main_8h.html">main.h</a>&quot;</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">   21</a></span><span class="keyword">static</span> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 0;</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="uart_8h.html#a6d278b36110f5f0e56b59e058b867b65">   28</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="main_8c.html#a6d278b36110f5f0e56b59e058b867b65">mdtp_callback_handler</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> pid, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *data) {</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="comment">/* pack0 is the control pack of miniFOC */</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordflow">if</span> (pid == 0) {</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> receive_int32;</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <span class="keywordflow">switch</span> (data[0]) {</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            <span class="keywordflow">case</span> 0x0F:</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>                <span class="comment">/* 0x0F is used to calibrate motor phase and sensor offset */</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>                <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 1;</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            <span class="keywordflow">case</span> 0x1E:</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>                <span class="keywordflow">if</span> (<a class="code hl_variable" href="foc_8c.html#a418bbe3f3019eaefea9f904a87cf0a05">foc_parameter_available_flag</a> == 1) {</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>                    <span class="comment">/* 0x1E used to enable the motor */</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>                    <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 2;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>                    <span class="comment">/* configure pid parameters for (torque/speed/angle) loop */</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>                    <span class="keywordflow">if</span> (<a class="code hl_variable" href="pid_8c.html#a48934d9569b54761658f7fe0484db10c">pid_parameter_available_flag</a> == 1)</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>                        <a class="code hl_function" href="pid_8c.html#a58a093011af03fae7427eb1980434a5e">pid_config</a>(data[1]);</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>                    <span class="keywordflow">else</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>                        <a class="code hl_function" href="pid_8c.html#a58a093011af03fae7427eb1980434a5e">pid_config</a>(<a class="code hl_define" href="pid_8h.html#a8ffc8824a06f7892f9691a65b83982a7">TORQUE_LOOP_CONTROL</a>);</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>                }</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            <span class="keywordflow">case</span> 0x2D:</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>                <span class="comment">/* 0x2D used to disable the motor */</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>                <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 3;</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>            <span class="keywordflow">case</span> 0x3C:</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>                <span class="comment">/* 0x3C used to set user expect */</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>                receive_int32 = (data[4] &lt;&lt; 24) | (data[5] &lt;&lt; 16) | (data[6] &lt;&lt; 8) | data[7];</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>                <span class="keywordflow">if</span> (<a class="code hl_variable" href="pid_8c.html#a48934d9569b54761658f7fe0484db10c">pid_parameter_available_flag</a> == 1) {</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>                    <span class="keywordflow">switch</span> (<a class="code hl_variable" href="pid_8c.html#a2c7bcbec66fa40a2347b1cd253a5ae82">pid_control_mode_flag</a>) {</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>                        <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>                        <span class="keywordflow">case</span> <a class="code hl_define" href="pid_8h.html#a8ffc8824a06f7892f9691a65b83982a7">TORQUE_LOOP_CONTROL</a>:<a class="code hl_variable" href="foc_8c.html#a6c9e1e8356380a4129a3a59d52ee1ec4">FOC_Struct</a>.<a class="code hl_variable" href="struct_f_o_c___structure__t.html#a483644b553c2be32ffbaf641f23c6cea">user_expect</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>                            <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>                        <span class="keywordflow">case</span> <a class="code hl_define" href="pid_8h.html#aa5ef3ead33ee14a82e7ee277d31e02d1">SPEED_LOOP_CONTROL</a>:<a class="code hl_variable" href="pid_8c.html#ab051c8f4a730b934b146f330514efd95">speed_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#ad0e13a810b1a4602c1ce625f9877cbf5">expect</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>                            <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>                        <span class="keywordflow">case</span> <a class="code hl_define" href="pid_8h.html#a7dad3a985101eaec7ac078f43747c928">ANGLE_LOOP_CONTROL</a>:<a class="code hl_variable" href="pid_8c.html#aaa8f5bad87ffc78a20f06863ab6bad5c">angle_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#ad0e13a810b1a4602c1ce625f9877cbf5">expect</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                            <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>                    }</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>                } <span class="keywordflow">else</span></div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                    <a class="code hl_variable" href="foc_8c.html#a6c9e1e8356380a4129a3a59d52ee1ec4">FOC_Struct</a>.<a class="code hl_variable" href="struct_f_o_c___structure__t.html#a483644b553c2be32ffbaf641f23c6cea">user_expect</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>            <span class="keywordflow">case</span> 0x4B:</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                <span class="comment">/* 0x4D used to set speed pid kp */</span></div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                receive_int32 = (data[4] &lt;&lt; 24) | (data[5] &lt;&lt; 16) | (data[6] &lt;&lt; 8) | data[7];</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>                <a class="code hl_variable" href="pid_8c.html#ab051c8f4a730b934b146f330514efd95">speed_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>            <span class="keywordflow">case</span> 0x5A:</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>                <span class="comment">/* 0x5A used to set speed pid ki */</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>                receive_int32 = (data[4] &lt;&lt; 24) | (data[5] &lt;&lt; 16) | (data[6] &lt;&lt; 8) | data[7];</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>                <a class="code hl_variable" href="pid_8c.html#ab051c8f4a730b934b146f330514efd95">speed_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#a050993b7ca6c97e62c1020017f716b91">ki</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>            <span class="keywordflow">case</span> 0x69:</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>                <span class="comment">/* 0x69 used to set speed pid kd */</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>                receive_int32 = (data[4] &lt;&lt; 24) | (data[5] &lt;&lt; 16) | (data[6] &lt;&lt; 8) | data[7];</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>                <a class="code hl_variable" href="pid_8c.html#ab051c8f4a730b934b146f330514efd95">speed_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#ae7a5c6018507bb1361fcca170e069b9c">kd</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>            <span class="keywordflow">case</span> 0x78:</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>                <span class="comment">/* 0x78 used to set speed pid summary maximum */</span></div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>                receive_int32 = (data[4] &lt;&lt; 24) | (data[5] &lt;&lt; 16) | (data[6] &lt;&lt; 8) | data[7];</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>                <a class="code hl_variable" href="pid_8c.html#ab051c8f4a730b934b146f330514efd95">speed_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#a51379d672c255e751fb020ef2394a8f0">sum_maximum</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            <span class="keywordflow">case</span> 0x87:</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>                <span class="comment">/* 0x87 used to set angle pid kp */</span></div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>                receive_int32 = (data[4] &lt;&lt; 24) | (data[5] &lt;&lt; 16) | (data[6] &lt;&lt; 8) | data[7];</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>                <a class="code hl_variable" href="pid_8c.html#aaa8f5bad87ffc78a20f06863ab6bad5c">angle_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>            <span class="keywordflow">case</span> 0x96:</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>                <span class="comment">/* 0x96 used to set angle pid ki */</span></div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>                receive_int32 = (data[4] &lt;&lt; 24) | (data[5] &lt;&lt; 16) | (data[6] &lt;&lt; 8) | data[7];</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>                <a class="code hl_variable" href="pid_8c.html#aaa8f5bad87ffc78a20f06863ab6bad5c">angle_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#a050993b7ca6c97e62c1020017f716b91">ki</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>            <span class="keywordflow">case</span> 0xA5:</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>                <span class="comment">/* 0xA5 used to set angle pid kd */</span></div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>                receive_int32 = (data[4] &lt;&lt; 24) | (data[5] &lt;&lt; 16) | (data[6] &lt;&lt; 8) | data[7];</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>                <a class="code hl_variable" href="pid_8c.html#aaa8f5bad87ffc78a20f06863ab6bad5c">angle_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#ae7a5c6018507bb1361fcca170e069b9c">kd</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>            <span class="keywordflow">case</span> 0xB4:</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>                <span class="comment">/* 0xB4 used to set angle pid summary maximum */</span></div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>                receive_int32 = (data[4] &lt;&lt; 24) | (data[5] &lt;&lt; 16) | (data[6] &lt;&lt; 8) | data[7];</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>                <a class="code hl_variable" href="pid_8c.html#aaa8f5bad87ffc78a20f06863ab6bad5c">angle_pid_handler</a>.<a class="code hl_variable" href="struct_p_i_d___structure__t.html#a51379d672c255e751fb020ef2394a8f0">sum_maximum</a> = <a class="code hl_function" href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a>(receive_int32);</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>            <span class="keywordflow">case</span> 0xC3:</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>                <span class="comment">/* 0xC3 used to return current value */</span></div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>                <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 4;</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>            <span class="keywordflow">case</span> 0xD2:</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>                <span class="comment">/* 0xD2 used to write byte to flash */</span></div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>                <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 5;</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>                <a class="code hl_variable" href="pid_8c.html#a48934d9569b54761658f7fe0484db10c">pid_parameter_available_flag</a> = 1;</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>            <span class="keywordflow">default</span>:<span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>        }</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    }</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>}</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="main_8c.html#a840291bc02cba5474a4cb46a9b9566fe">  139</a></span><span class="keywordtype">int</span> <a class="code hl_function" href="main_8c.html#a840291bc02cba5474a4cb46a9b9566fe">main</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <span class="comment">/* 4 bits for preemption priority 0 bits for subpriority */</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    nvic_priority_group_set(NVIC_PRIGROUP_PRE4_SUB0);</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="comment">/* configure peripherals */</span></div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <a class="code hl_define" href="led_8h.html#a2cb4ec14f5c960e9fd5d5348eaf36f65">led_config</a>();</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <a class="code hl_function" href="uart_8c.html#afb2565a333438fc66b5725bf1e41ca0f">uart_config</a>();</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <a class="code hl_function" href="timer_8c.html#a5047a45bb0e8e868a84cbe6c6d5f8ec8">pwm_config</a>();</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    <a class="code hl_function" href="spi_8c.html#aa913932d23eead8cf414e5d605b9175d">spi_config</a>();</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span> </div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    <span class="comment">/* configure filter and pid parameters for pid algorithm */</span></div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <a class="code hl_function" href="filter_8c.html#aa1e7128fffcf2b56a6fb1c23f89afd75">filter_config</a>();</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <a class="code hl_function" href="pid_8c.html#a58a093011af03fae7427eb1980434a5e">pid_config</a>(<a class="code hl_define" href="pid_8h.html#a8ffc8824a06f7892f9691a65b83982a7">TORQUE_LOOP_CONTROL</a>);</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    <span class="comment">/* configure systick timer for delay_ms() function */</span></div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <a class="code hl_function" href="system_8c.html#a35f0081c3632bdd1851b3b0180812224">systick_config</a>();</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span> </div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="comment">/* read all parameters from flash */</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <a class="code hl_function" href="flash_8c.html#aaef765344f91439176e3223a0f51f4d0">flash_read_parameters</a>();</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="comment">/* correct the mechanical angle zero deviation */</span></div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    <a class="code hl_function" href="encoder_8c.html#ad28e37c20d065e5014ea3a5f2de91e82">encoder_zeroing</a>();</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span> </div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <span class="keywordflow">while</span> (1) {</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="keywordflow">switch</span> (<a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a>) {</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>            <span class="keywordflow">case</span> 1:</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>                <span class="comment">/* disable timer to stop foc calculate loop */</span></div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>                <a class="code hl_function" href="timer_8c.html#a0ff329af778ba1ea50c17d3184af78d5">timer2_disable</a>();</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>                <a class="code hl_function" href="timer_8c.html#a96e7b337ea7bf3c245ff1053e4843a1d">timer13_disable</a>();</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>                <span class="comment">/* automatic phase sequence detection and correction */</span></div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>                <a class="code hl_function" href="foc_8c.html#a85fbd426ff2859593ed2b1ecd4a35d4b">foc_calibrate_phase</a>();</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>                <span class="comment">/* correct the mechanical angle zero deviation */</span></div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>                <a class="code hl_function" href="encoder_8c.html#ad28e37c20d065e5014ea3a5f2de91e82">encoder_zeroing</a>();</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>                <span class="comment">/* re-write the parameters to flash */</span></div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>                <a class="code hl_function" href="flash_8c.html#aa281b78d45017220d214a274f0c3e2c9">flash_write_parameters</a>();</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>                <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 0;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>            <span class="keywordflow">case</span> 2:</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>                <span class="comment">/* delay to wait for the motor to respond */</span></div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>                <a class="code hl_function" href="system_8c.html#a837b6e9a8c812f0964f71e37ac853bff">delayms</a>(1000);</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>                <span class="comment">/* configure timer for foc calculate loop */</span></div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>                <a class="code hl_function" href="timer_8c.html#af7559b2302c6fd04f459ae08a2eb8f6d">timer2_config</a>();</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>                <span class="keywordflow">if</span> (<a class="code hl_variable" href="pid_8c.html#a2c7bcbec66fa40a2347b1cd253a5ae82">pid_control_mode_flag</a> != <a class="code hl_define" href="pid_8h.html#a8ffc8824a06f7892f9691a65b83982a7">TORQUE_LOOP_CONTROL</a>)</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>                    <a class="code hl_function" href="timer_8c.html#a97f6f408a34a56cfe1488f8aafa54756">timer13_config</a>();</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>                <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 0;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span> </div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>            <span class="keywordflow">case</span> 3:</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>                <span class="comment">/* disable timer to stop foc calculate loop */</span></div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>                <a class="code hl_function" href="timer_8c.html#a0ff329af778ba1ea50c17d3184af78d5">timer2_disable</a>();</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>                <span class="keywordflow">if</span> (<a class="code hl_variable" href="pid_8c.html#a2c7bcbec66fa40a2347b1cd253a5ae82">pid_control_mode_flag</a> != <a class="code hl_define" href="pid_8h.html#a8ffc8824a06f7892f9691a65b83982a7">TORQUE_LOOP_CONTROL</a>)</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>                    <a class="code hl_function" href="timer_8c.html#a96e7b337ea7bf3c245ff1053e4843a1d">timer13_disable</a>();</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>                <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 0;</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span> </div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>            <span class="keywordflow">case</span> 4:</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>                <span class="comment">/* transmit current value to monitor */</span></div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>                <a class="code hl_function" href="report_8c.html#a39f7667109df28fd65d1b391498f043f">report_local_variable</a>();</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>                <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 0;</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>            <span class="keywordflow">case</span> 5:</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>                <span class="comment">/* disable timer to stop foc calculate loop */</span></div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>                <a class="code hl_function" href="timer_8c.html#a0ff329af778ba1ea50c17d3184af78d5">timer2_disable</a>();</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>                <a class="code hl_function" href="timer_8c.html#a96e7b337ea7bf3c245ff1053e4843a1d">timer13_disable</a>();</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span> </div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>                <span class="comment">/* write data to flash */</span></div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>                <a class="code hl_function" href="flash_8c.html#aa281b78d45017220d214a274f0c3e2c9">flash_write_parameters</a>();</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>                <a class="code hl_variable" href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a> = 0;</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span> </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>            <span class="keywordflow">case</span> 0:</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>            <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>                <span class="comment">/* transmit angle and speed to monitor */</span></div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>                <a class="code hl_function" href="report_8c.html#ad34fcba452be8c07f046c3a11950d41c">report_angle_speed</a>();</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>                <a class="code hl_define" href="led_8h.html#a927d8328da439f32fe78f647b70db599">led_toggle</a>();</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>                <a class="code hl_function" href="system_8c.html#a837b6e9a8c812f0964f71e37ac853bff">delayms</a>(50);</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>                <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>        }</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>    }</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>}</div>
<div class="ttc" id="aencoder_8c_html_ad28e37c20d065e5014ea3a5f2de91e82"><div class="ttname"><a href="encoder_8c.html#ad28e37c20d065e5014ea3a5f2de91e82">encoder_zeroing</a></div><div class="ttdeci">void encoder_zeroing(void)</div><div class="ttdoc">correct the mechanical angle zero deviation between the magnetic encoder and FOC.</div><div class="ttdef"><b>Definition:</b> <a href="encoder_8c_source.html#l00119">encoder.c:119</a></div></div>
<div class="ttc" id="afilter_8c_html_aa1e7128fffcf2b56a6fb1c23f89afd75"><div class="ttname"><a href="filter_8c.html#aa1e7128fffcf2b56a6fb1c23f89afd75">filter_config</a></div><div class="ttdeci">void filter_config(void)</div><div class="ttdoc">configure low-pass filter parameters</div><div class="ttdef"><b>Definition:</b> <a href="filter_8c_source.html#l00045">filter.c:45</a></div></div>
<div class="ttc" id="aflash_8c_html_aa281b78d45017220d214a274f0c3e2c9"><div class="ttname"><a href="flash_8c.html#aa281b78d45017220d214a274f0c3e2c9">flash_write_parameters</a></div><div class="ttdeci">void flash_write_parameters(void)</div><div class="ttdoc">program all parameters to flash</div><div class="ttdef"><b>Definition:</b> <a href="flash_8c_source.html#l00026">flash.c:26</a></div></div>
<div class="ttc" id="aflash_8c_html_aaef765344f91439176e3223a0f51f4d0"><div class="ttname"><a href="flash_8c.html#aaef765344f91439176e3223a0f51f4d0">flash_read_parameters</a></div><div class="ttdeci">void flash_read_parameters(void)</div><div class="ttdoc">read all parameters from flash</div><div class="ttdef"><b>Definition:</b> <a href="flash_8c_source.html#l00046">flash.c:46</a></div></div>
<div class="ttc" id="afoc_8c_html_a418bbe3f3019eaefea9f904a87cf0a05"><div class="ttname"><a href="foc_8c.html#a418bbe3f3019eaefea9f904a87cf0a05">foc_parameter_available_flag</a></div><div class="ttdeci">unsigned char foc_parameter_available_flag</div><div class="ttdoc">flag variable for FOC parameter availability</div><div class="ttdef"><b>Definition:</b> <a href="foc_8c_source.html#l00028">foc.c:28</a></div></div>
<div class="ttc" id="afoc_8c_html_a6c9e1e8356380a4129a3a59d52ee1ec4"><div class="ttname"><a href="foc_8c.html#a6c9e1e8356380a4129a3a59d52ee1ec4">FOC_Struct</a></div><div class="ttdeci">volatile FOC_Structure_t FOC_Struct</div><div class="ttdoc">FOC handler.</div><div class="ttdef"><b>Definition:</b> <a href="foc_8c_source.html#l00020">foc.c:20</a></div></div>
<div class="ttc" id="afoc_8c_html_a85fbd426ff2859593ed2b1ecd4a35d4b"><div class="ttname"><a href="foc_8c.html#a85fbd426ff2859593ed2b1ecd4a35d4b">foc_calibrate_phase</a></div><div class="ttdeci">void foc_calibrate_phase(void)</div><div class="ttdoc">automatic phase sequence detection and correction</div><div class="ttdef"><b>Definition:</b> <a href="foc_8c_source.html#l00033">foc.c:33</a></div></div>
<div class="ttc" id="aled_8h_html_a2cb4ec14f5c960e9fd5d5348eaf36f65"><div class="ttname"><a href="led_8h.html#a2cb4ec14f5c960e9fd5d5348eaf36f65">led_config</a></div><div class="ttdeci">#define led_config()</div><div class="ttdoc">configure led periph and its gpios</div><div class="ttdef"><b>Definition:</b> <a href="led_8h_source.html#l00030">led.h:30</a></div></div>
<div class="ttc" id="aled_8h_html_a927d8328da439f32fe78f647b70db599"><div class="ttname"><a href="led_8h.html#a927d8328da439f32fe78f647b70db599">led_toggle</a></div><div class="ttdeci">#define led_toggle()</div><div class="ttdoc">flip the LED pin level</div><div class="ttdef"><b>Definition:</b> <a href="led_8h_source.html#l00025">led.h:25</a></div></div>
<div class="ttc" id="amain_8c_html_a6d278b36110f5f0e56b59e058b867b65"><div class="ttname"><a href="main_8c.html#a6d278b36110f5f0e56b59e058b867b65">mdtp_callback_handler</a></div><div class="ttdeci">void mdtp_callback_handler(unsigned char pid, const unsigned char *data)</div><div class="ttdoc">user callback function for unpacking completion of medium capacity transport protocol</div><div class="ttdef"><b>Definition:</b> <a href="main_8c_source.html#l00028">main.c:28</a></div></div>
<div class="ttc" id="amain_8c_html_a7eb1a10df8fd98a22d65df31180c5114"><div class="ttname"><a href="main_8c.html#a7eb1a10df8fd98a22d65df31180c5114">minifoc_fsm_state</a></div><div class="ttdeci">static volatile unsigned char minifoc_fsm_state</div><div class="ttdoc">used to indicate the current status of miniFOC</div><div class="ttdef"><b>Definition:</b> <a href="main_8c_source.html#l00021">main.c:21</a></div></div>
<div class="ttc" id="amain_8c_html_a840291bc02cba5474a4cb46a9b9566fe"><div class="ttname"><a href="main_8c.html#a840291bc02cba5474a4cb46a9b9566fe">main</a></div><div class="ttdeci">int main(void)</div><div class="ttdoc">main function</div><div class="ttdef"><b>Definition:</b> <a href="main_8c_source.html#l00139">main.c:139</a></div></div>
<div class="ttc" id="amain_8h_html"><div class="ttname"><a href="main_8h.html">main.h</a></div><div class="ttdoc">main function Header File</div></div>
<div class="ttc" id="apid_8c_html_a2c7bcbec66fa40a2347b1cd253a5ae82"><div class="ttname"><a href="pid_8c.html#a2c7bcbec66fa40a2347b1cd253a5ae82">pid_control_mode_flag</a></div><div class="ttdeci">volatile unsigned char pid_control_mode_flag</div><div class="ttdoc">flag variable of PID closed loop mode</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00020">pid.c:20</a></div></div>
<div class="ttc" id="apid_8c_html_a48934d9569b54761658f7fe0484db10c"><div class="ttname"><a href="pid_8c.html#a48934d9569b54761658f7fe0484db10c">pid_parameter_available_flag</a></div><div class="ttdeci">unsigned char pid_parameter_available_flag</div><div class="ttdoc">flag variable for PID parameter availability</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00016">pid.c:16</a></div></div>
<div class="ttc" id="apid_8c_html_a58a093011af03fae7427eb1980434a5e"><div class="ttname"><a href="pid_8c.html#a58a093011af03fae7427eb1980434a5e">pid_config</a></div><div class="ttdeci">void pid_config(unsigned char mode)</div><div class="ttdoc">configure pid loop parameters</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00033">pid.c:33</a></div></div>
<div class="ttc" id="apid_8c_html_aaa8f5bad87ffc78a20f06863ab6bad5c"><div class="ttname"><a href="pid_8c.html#aaa8f5bad87ffc78a20f06863ab6bad5c">angle_pid_handler</a></div><div class="ttdeci">volatile PID_Structure_t angle_pid_handler</div><div class="ttdoc">algorithm handler of PID angle loop</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00028">pid.c:28</a></div></div>
<div class="ttc" id="apid_8c_html_ab051c8f4a730b934b146f330514efd95"><div class="ttname"><a href="pid_8c.html#ab051c8f4a730b934b146f330514efd95">speed_pid_handler</a></div><div class="ttdeci">volatile PID_Structure_t speed_pid_handler</div><div class="ttdoc">algorithm handler of PID speed loop</div><div class="ttdef"><b>Definition:</b> <a href="pid_8c_source.html#l00024">pid.c:24</a></div></div>
<div class="ttc" id="apid_8h_html_a7dad3a985101eaec7ac078f43747c928"><div class="ttname"><a href="pid_8h.html#a7dad3a985101eaec7ac078f43747c928">ANGLE_LOOP_CONTROL</a></div><div class="ttdeci">#define ANGLE_LOOP_CONTROL</div><div class="ttdoc">angle loop control mode</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00018">pid.h:18</a></div></div>
<div class="ttc" id="apid_8h_html_a8ffc8824a06f7892f9691a65b83982a7"><div class="ttname"><a href="pid_8h.html#a8ffc8824a06f7892f9691a65b83982a7">TORQUE_LOOP_CONTROL</a></div><div class="ttdeci">#define TORQUE_LOOP_CONTROL</div><div class="ttdoc">torque loop control mode</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00014">pid.h:14</a></div></div>
<div class="ttc" id="apid_8h_html_aa5ef3ead33ee14a82e7ee277d31e02d1"><div class="ttname"><a href="pid_8h.html#aa5ef3ead33ee14a82e7ee277d31e02d1">SPEED_LOOP_CONTROL</a></div><div class="ttdeci">#define SPEED_LOOP_CONTROL</div><div class="ttdoc">speed loop control mode</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00016">pid.h:16</a></div></div>
<div class="ttc" id="areport_8c_html_a39f7667109df28fd65d1b391498f043f"><div class="ttname"><a href="report_8c.html#a39f7667109df28fd65d1b391498f043f">report_local_variable</a></div><div class="ttdeci">void report_local_variable(void)</div><div class="ttdoc">report PID parameters and current user settings</div><div class="ttdef"><b>Definition:</b> <a href="report_8c_source.html#l00015">report.c:15</a></div></div>
<div class="ttc" id="areport_8c_html_ad34fcba452be8c07f046c3a11950d41c"><div class="ttname"><a href="report_8c.html#ad34fcba452be8c07f046c3a11950d41c">report_angle_speed</a></div><div class="ttdeci">void report_angle_speed(void)</div><div class="ttdoc">report angle and speed using medium capacity transport protocol</div><div class="ttdef"><b>Definition:</b> <a href="report_8c_source.html#l00069">report.c:69</a></div></div>
<div class="ttc" id="aspi_8c_html_aa913932d23eead8cf414e5d605b9175d"><div class="ttname"><a href="spi_8c.html#aa913932d23eead8cf414e5d605b9175d">spi_config</a></div><div class="ttdeci">void spi_config(void)</div><div class="ttdoc">configure spi0 periph and its gpios</div><div class="ttdef"><b>Definition:</b> <a href="spi_8c_source.html#l00035">spi.c:35</a></div></div>
<div class="ttc" id="astruct_f_o_c___structure__t_html_a483644b553c2be32ffbaf641f23c6cea"><div class="ttname"><a href="struct_f_o_c___structure__t.html#a483644b553c2be32ffbaf641f23c6cea">FOC_Structure_t::user_expect</a></div><div class="ttdeci">float user_expect</div><div class="ttdoc">user expect value of miniFOC</div><div class="ttdef"><b>Definition:</b> <a href="foc_8h_source.html#l00020">foc.h:20</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a050993b7ca6c97e62c1020017f716b91"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a050993b7ca6c97e62c1020017f716b91">PID_Structure_t::ki</a></div><div class="ttdeci">float ki</div><div class="ttdoc">integral term coefficient in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00026">pid.h:26</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a1f7add0f84d583bc2eceb290d6c4cc06"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a1f7add0f84d583bc2eceb290d6c4cc06">PID_Structure_t::kp</a></div><div class="ttdeci">float kp</div><div class="ttdoc">proportional term coefficient in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00025">pid.h:25</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_a51379d672c255e751fb020ef2394a8f0"><div class="ttname"><a href="struct_p_i_d___structure__t.html#a51379d672c255e751fb020ef2394a8f0">PID_Structure_t::sum_maximum</a></div><div class="ttdeci">float sum_maximum</div><div class="ttdoc">maximum of anti saturation integral in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00032">pid.h:32</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_ad0e13a810b1a4602c1ce625f9877cbf5"><div class="ttname"><a href="struct_p_i_d___structure__t.html#ad0e13a810b1a4602c1ce625f9877cbf5">PID_Structure_t::expect</a></div><div class="ttdeci">float expect</div><div class="ttdoc">user expectations in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00029">pid.h:29</a></div></div>
<div class="ttc" id="astruct_p_i_d___structure__t_html_ae7a5c6018507bb1361fcca170e069b9c"><div class="ttname"><a href="struct_p_i_d___structure__t.html#ae7a5c6018507bb1361fcca170e069b9c">PID_Structure_t::kd</a></div><div class="ttdeci">float kd</div><div class="ttdoc">differential term coefficient in PID</div><div class="ttdef"><b>Definition:</b> <a href="pid_8h_source.html#l00027">pid.h:27</a></div></div>
<div class="ttc" id="asystem_8c_html_a35f0081c3632bdd1851b3b0180812224"><div class="ttname"><a href="system_8c.html#a35f0081c3632bdd1851b3b0180812224">systick_config</a></div><div class="ttdeci">void systick_config(void)</div><div class="ttdoc">initialize systick timer to implementation delay function</div><div class="ttdef"><b>Definition:</b> <a href="system_8c_source.html#l00020">system.c:20</a></div></div>
<div class="ttc" id="asystem_8c_html_a837b6e9a8c812f0964f71e37ac853bff"><div class="ttname"><a href="system_8c.html#a837b6e9a8c812f0964f71e37ac853bff">delayms</a></div><div class="ttdeci">void delayms(unsigned long count)</div><div class="ttdoc">millisecond delay function, any time time.</div><div class="ttdef"><b>Definition:</b> <a href="system_8c_source.html#l00030">system.c:30</a></div></div>
<div class="ttc" id="asystem_8c_html_ade748eddd7c60c3bf4c67bce9c463545"><div class="ttname"><a href="system_8c.html#ade748eddd7c60c3bf4c67bce9c463545">int32_to_float</a></div><div class="ttdeci">float int32_to_float(unsigned int data0)</div><div class="ttdoc">convert int32 to floating point numbers type data</div><div class="ttdef"><b>Definition:</b> <a href="system_8c_source.html#l00070">system.c:70</a></div></div>
<div class="ttc" id="atimer_8c_html_a0ff329af778ba1ea50c17d3184af78d5"><div class="ttname"><a href="timer_8c.html#a0ff329af778ba1ea50c17d3184af78d5">timer2_disable</a></div><div class="ttdeci">void timer2_disable(void)</div><div class="ttdoc">disable timer2 periph and timer2 interrupt</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00044">timer.c:44</a></div></div>
<div class="ttc" id="atimer_8c_html_a5047a45bb0e8e868a84cbe6c6d5f8ec8"><div class="ttname"><a href="timer_8c.html#a5047a45bb0e8e868a84cbe6c6d5f8ec8">pwm_config</a></div><div class="ttdeci">void pwm_config(void)</div><div class="ttdoc">configure timer1 periph and its gpios</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00117">timer.c:117</a></div></div>
<div class="ttc" id="atimer_8c_html_a96e7b337ea7bf3c245ff1053e4843a1d"><div class="ttname"><a href="timer_8c.html#a96e7b337ea7bf3c245ff1053e4843a1d">timer13_disable</a></div><div class="ttdeci">void timer13_disable(void)</div><div class="ttdoc">disable timer13 periph and timer2 interrupt</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00030">timer.c:30</a></div></div>
<div class="ttc" id="atimer_8c_html_a97f6f408a34a56cfe1488f8aafa54756"><div class="ttname"><a href="timer_8c.html#a97f6f408a34a56cfe1488f8aafa54756">timer13_config</a></div><div class="ttdeci">void timer13_config(void)</div><div class="ttdoc">configure timer13 periph for timing interrupt</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00089">timer.c:89</a></div></div>
<div class="ttc" id="atimer_8c_html_af7559b2302c6fd04f459ae08a2eb8f6d"><div class="ttname"><a href="timer_8c.html#af7559b2302c6fd04f459ae08a2eb8f6d">timer2_config</a></div><div class="ttdeci">void timer2_config(void)</div><div class="ttdoc">configure timer2 periph for timing interrupt</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00061">timer.c:61</a></div></div>
<div class="ttc" id="auart_8c_html_afb2565a333438fc66b5725bf1e41ca0f"><div class="ttname"><a href="uart_8c.html#afb2565a333438fc66b5725bf1e41ca0f">uart_config</a></div><div class="ttdeci">void uart_config(void)</div><div class="ttdoc">configure uart0 periph and its gpios</div><div class="ttdef"><b>Definition:</b> <a href="uart_8c_source.html#l00143">uart.c:143</a></div></div>
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